Robotic Perception Library

A fully templated C++ implementation of general-use algorithms for robotic perception and visual servoing.

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Goals

RPL project has the following goals:

• Provide optimized and flexible modules for collision prediction and detection for collaborative robotic applications.
• Feature extraction from camera images and/or sensors data types.
• Environment reconstruction and processing, trajectory planning in unconstrained worlds.
• Robust control strategies based on visual input.
• A set of fuzzy relations between solid objects, and develops, and a set of human-like control algorithms.

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This is a template for modern C++ projects. What you get is:

• Library, executable and test code separated in distinct folders
• Use of modern CMake for building and compiling
• External libraries installed and managed by
  • CPM Package Manager OR
  • Conan Package Manager OR
  • VCPKG Package Manager
• Unit testing using Catch2 v2
• General purpose libraries: JSON, spdlog, cxxopts and fmt
• Continuous integration testing with Github Actions and pre-commit
• Code documentation with Doxygen and Github Pages
• Tooling: Clang-Format, Cmake-Format, Clang-tidy, Sanitizers

References

• Real-Time Deep Learning Approach to Visual Servo Control and Grasp Detection for Autonomous Robotic Manipulation, E. G. Ribeiro, R. Q. Mendes, V. Grassi Jr, Elsevier's Robotics and Autonomous Systems, 2021

• Training deep neuralnetworks for visual servoing, Q. Bateux, E. Marchand, J. Leitner, F. Chaumette, P. Corke, ICRA 2018 Library code goes into src/, main program code in app/ and tests go in tests/.

• Classical and Deep Learning based Visual Servoing Systems: a Survey on State of the Art, * Z.Machkour, D.Ortiz-Arroyo, P.Durdevic*, 2021

Software Requirements

• CMake 3.21+
• GNU Makefile
• Doxygen
• Conan or VCPKG
• MSVC 2017 (or higher), G++9 (or higher), Clang++9 (or higher)
• Optional: Code Coverage (only on GNU|Clang): gcovr
• Optional: Makefile, Doxygen, Conan, VCPKG

Building

First, clone this repo and do the preliminary work:

git clone --recursive https://github.com/franneck94/CppProjectTemplate
mkdir build

• App Executable

cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build . --config Release --target main
cd app
./main

• Unit testing

cmake -H. -Bbuild -DCMAKE_BUILD_TYPE="Debug"
cmake --build build --config Debug
cd build
ctest .

• Documentation

cd build
cmake -DCMAKE_BUILD_TYPE=Debug ..
cmake --build . --config Debug --target docs

• Code Coverage (Unix only)

cmake -H. -Bbuild -DCMAKE_BUILD_TYPE=Debug -DENABLE_COVERAGE=On
cmake --build build --config Debug --target coverage -j4
cd build
ctest .

For more info about CMake see here.

Testing

References

Contributing

please see the CONTRIBUTING guide for more informations